www.gusucode.com > control 案例程序 matlab源码代码 > control/Design2DOFPIDControllerExample.m

    %% Design 2-DOF PID Controller
% Design a 2-DOF PID Controller for the plant given by the transfer function: 
%
% $$G\left(s\right) = {1 \over {{s^2} + 0.5s + 0.1}}.$$
%
% Use a target bandwidth of 1.5 rad/s.
wc = 1.5;
G = tf(1,[1 0.5 0.1]);
C2 = pidtune(G,'PID2',wc)
%%
% Using the type |'PID2'| causes |pidtune| to generate a
% 2-DOF controller, represented as a |pid2| object. The display confirms
% this result. The display also shows that |pidtune| tunes all controller
% coefficients, including the setpoint weights |b| and |c|, to balance
% performance and robustness.